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Paksoy, Erkan
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01. Izmir Institute of Technology
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5
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| Journal | Count |
|---|---|
| Mechanisms and Machine Science | 1 |
| Recent Advances in Mechanisms, IFToMM International Conference on Mechanisms, Transmissions and Applications | 1 |
| Robotica | 1 |
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Master Thesis Enhancement of Trajectory Following Accuracy of High Acceleration Robots by Using Their Stiffness Properties(01. Izmir Institute of Technology, 2021) Dede, Mehmet İsmet Can; Paksoy, Erkan; Paksoy, Erkan; Dede, Mehmet İsmet Can; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringIn recent years, there has been a push for the incorporation of robots into manufacturing processes. In general, parallel robots are preferred for processes requiring high repeatability and positioning accuracy. If the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the high accelerations or external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. This thesis describes an experimental test setup and an experimental procedure for determining the compliance characteristics of planar mechanisms, followed by a comparison of the repeatability and stiffness performance of a parallel and an over-constrained mechanism. Finally, assumptions and methodology for using this compliance information to improve the trajectory tracking accuracy of high-accelerated robots are given. Portable coordinate measurement machine and calibrated weights are used to collect compliance information. The compliance behavior of the mechanisms defined for entire workspace by using the least squares and bilinear interpolation techniques. The D'Alambert principle is used to estimate fictitious forces that cause the compliance of the mechanism's end-effector while the mechanism operates at up to 5 g accelerations. As a result of this thesis, it is demonstrated that the mechanism's center of gravity and joint types play an important role in the mechanism's trajectory tracking accuracy, and that tracking accuracy can be improved by a simple data-driven compliance prediction algorithm.Conference Object Citation - Scopus: 2Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism(Springer, 2022) Paksoy, Erkan; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Paksoy, Erkan; Kiper, Gökhan; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringIf the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.Book Part An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators(Springer, 2021) Görgülü, İbrahimcan; Görgülü, İbrahimcan; Paksoy, Erkan; Paksoy, Erkan; Carbone, Giuseppe; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringIn this paper, an experimental test setup for stiffness evaluation of a spatial parallel mechanism is introduced. The parallel mechanism used in this study is R-CUBE mechanism. In the test setup, a highly rigid gantry-type manipulator’s end-effector is coupled with the R-CUBE’s mobile platform. As the gantry manipulator is actuated the resultant reaction forces/moments are measured via a force\torque sensor. Subsequently, compliant displacements of R-CUBE are measured by using a coordinate measuring machine. The obtained results are presented and discussed in this paper. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.Conference Object Conceptual Design of a 2-Dof Planar High-Speed Industrial Parallel Manipulator(Springer, 2019) Uzunoğlu, Emre; Paksoy, Erkan; Özkahya, Merve; Uzunoğlu, Emre; Paksoy, Erkan; Kiper, Gökhan; Taner, Barış; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Kiper, Gökhan; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringThis study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with par-allelogram loops and its simply constrained version are selected for detailed de-sign. In addition, a model-based control strategy including a stiffness model is discussed for future studies. Alternative drive systems are evaluated. Finally a prototype is presented.Article Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements(Cambridge University Press, 2025) Kiper, Gökhan; Paksoy, Erkan; Dede, Mehmet İsmet Can; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringFor precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.